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A ROS Package for H...
A ROS Package for Human-In-the-Loop Planning and Control under Linear Temporal Logic Tasks
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- Baran, Robin (författare)
- KTH,Reglerteknik
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- Tan, Xiao (författare)
- KTH,Reglerteknik
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- Várnai, Péter (författare)
- KTH,Reglerteknik
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- Yu, Pian (författare)
- KTH,Reglerteknik
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- Ahlberg, Sofie (författare)
- KTH,Reglerteknik
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- Guo, Meng, 1988- (författare)
- KTH,Reglerteknik
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- Shaw Cortez, Wenceslao E. (författare)
- KTH,Reglerteknik
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- Dimarogonas, Dimos V. (författare)
- KTH,Reglerteknik
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2021
- 2021
- Engelska.
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Ingår i: IEEE International Conference on Automation Science and Engineering. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 2182-2187
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- In this paper, we propose a ROS software package for planning and control of robotic systems with a human-in-the-Ioop focus. The software uses temporal logic specifications, specifically Linear Temporal Logic, for a language-based method to develop correct-by-design high level robot plans. The approach is structured to allow a human to adjust the high-level plan online. A human may also take control of the robot (in a low-level control fashion), but the software prevents the human from implementing dangerous behaviour that would violate the high-level task specification. Finally, the planner is able to learn human-preferred high-level tasks by tracking human low-level control inputs in an inverse learning framework. The proposed approach is demonstrated in a warehouse setting with multiple robot agents to showcase the efficacy of the proposed solution.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Behavioral research
- Computer circuits
- High level languages
- Level control
- Machine design
- Robot programming
- Temporal logic
- Human-in-the-loop
- Inverse learning
- Learn
- Linear temporal logic
- Planning and control
- Robot plan
- Robotic systems
- Software use
- Task specifications
- Temporal logic specifications
- Specifications
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)